Geometry and Depth-aware Texture Reconstruction.
With complete and dense point cloud reconstructed, we apply Poisson Surface Reconstruction with envelope constraints [1]} to reconstruct the watertight mesh. However, due to inevitable self-occlusion in complicated poses, interpolation artifacts arise from missing depth information, which leads to a shrunk or a dilated geometry. These artifacts are negligible for geometry reconstruction. However, a prominent artifact appears when projecting a texture onto the mesh even if the inconsistency between the true surface and the reconstructed surface is small. Hence, we extend MVS-texturing  [2]} to be depth-aware in texture reconstruction. We render the reconstructed mesh back into the camera view and compare the rendered depth map with the original depth map to generate the difference mask. We then mask out all the misalignment regions where the depth difference exceeds a threshold \(\tau _d\) . The masked regions do not contribute to texture projection. As shown in Fig. REF (b), the depth-aware texture reconstruction is more accurate and visually pleasing.
